CN107190621B - Pavement crack disease detection system and method - Google Patents
Pavement crack disease detection system and method Download PDFInfo
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Abstract
The invention provides a pavement crack disease detection method, which comprises the following steps that a laser generator emits laser beams to a lane, and serial bending marked lines are formed on a pavement to be detected; the image acquisition device acquires the serially connected bent marking images based on a preset acquisition period to obtain marking images; carrying out high-pass filtering on the marked line image to obtain a pulse elevation numerical image of the pavement crack diseases; and processing the pulse elevation numerical value image to obtain a pavement crack disease result. The method realizes automatic intelligent treatment of the pavement diseases, solves the problem of pseudo cracks generated by water marks and oil marks in the image photographing method commonly adopted at home and abroad, realizes automatic interpretation of complex gray level graphs, directly obtains relevant information of the pavement diseases through treatment, does not need manual interpretation, and ensures safety.
Description
Technical Field
The invention relates to the field of pavement detection systems, in particular to a method and a system for measuring cracks and pits on pavement of a road or other similar structures.
Background
At present, in the field of pavement crack disease detection, a crack damage detection method mainly adopts manual direct observation and interpretation and a crack identification method of a crack two-dimensional image by using a computer. The method adopts manual direct observation and interpretation, and has the main problems that real-time detection cannot be carried out, the normal driving safety is influenced in the detection process, and the detection efficiency and the detection precision are still to be improved.
The crack identification method based on the crack two-dimensional image is adopted, the analysis basis is the difference between the illumination characteristic of the crack under a certain illumination condition and the pavement, but the difference is not the essential characteristic of the crack, the two-dimensional image sensing principle cannot be thoroughly overcome, the interference factors such as the illumination condition, shadow, pavement oil stain, sundries and the like in the acquisition process cannot be overcome, the complete crack information cannot be extracted by the information obtained only through the crack two-dimensional image, and the depth characteristic of the crack cannot be reflected.
Recently, a three-dimensional visualization measurement system using GNSS (global navigation satellite system) has been produced, which can achieve a more accurate measurement result by connecting a satellite system to collect data and transmitting the data to a dedicated device for reading and writing, but is expensive and not suitable for widespread mass use.
Disclosure of Invention
The invention aims to provide a pavement crack disease detection method and a pavement crack disease detection system which are high in detection efficiency and precision and can realize quantitative automatic intelligent treatment of crack diseases.
The above object of the invention is achieved by the features of the independent claims, the dependent claims developing the features of the independent claims in alternative or advantageous ways.
In order to achieve the purpose, the invention provides a pavement crack disease detection method, which comprises the following steps:
step 2, the laser marking image acquisition device acquires the serially connected bent markings in the step 1 based on a preset acquisition period to obtain a marking image;
step 3, performing high-pass filtering on the marked line image obtained in the step 2 to obtain a pulse elevation numerical image of the pavement crack diseases;
and 4, processing the pulse elevation value image to obtain a pavement crack disease result.
The invention provides a pavement crack disease detection system, which comprises a beam arranged on a movable measuring vehicle, wherein the movable measuring vehicle can move along a lane, and a laser generator is arranged on the movable measuring vehicle and consists of a plurality of groups of plane laser generators:
the laser marking image acquisition device is used for acquiring the serially connected bending marking on the road surface to form a marking image;
the measuring vehicle is provided with an image acquisition and information processing system, and the image acquisition and information processing system is used for sending an image acquisition control signal to the laser marking image acquisition device, so that the laser marking image acquisition device acquires marking images based on a preset acquisition period, and the marking images are subjected to high-pass filtering processing to obtain pulse elevation numerical value images of the road surface to be measured.
According to the technical scheme, the serial bending marked lines are formed by obliquely projecting the plane laser generator to the road surface, the serial bending marked lines are collected through the image collection device, the collection period is controlled through the mileage controller, the high-pass filtering is carried out on the marked line images, the pulse elevation numerical value images are obtained, and the crack diseases can be further processed, so that compared with the prior art, the crack disease detection device has the beneficial effects that: establishing a pulse elevation numerical image with a lane line as a Y axis in the vertical coordinate direction, a cross line as an X axis in the horizontal coordinate direction, a crossing point of the lane line and the cross line as an original point, a depth direction of the pavement damage as a Z axis, respectively performing low-pass filtering treatment and full-spectrum fidelity treatment on the serially connected bending marked lines, differentiating a full-spectrum section numerical curve obtained by the full-spectrum fidelity treatment and a low-pass filtering continuous section numerical curve obtained by the low-pass filtering treatment to obtain a pulse elevation numerical image of the pavement crack damage, further processing the pulse elevation numerical image to obtain the crack damage, for example, conveniently counting and classifying the damage according to quantitative elevation and width, avoiding the problem of missed detection of narrow cracks and shallow cracks, realizing automatic intelligent treatment of the pavement damage, solving the problem of water marks and false cracks generated by oil marks commonly adopted image photography at home and abroad, and realizing automatic interpretation of complex gray patterns.
It should be understood that all combinations of the foregoing concepts and additional concepts described in greater detail below can be considered as part of the presently disclosed subject matter unless such concepts are mutually inconsistent. In addition, all combinations of claimed subject matter are considered a part of the presently disclosed subject matter.
The foregoing and other aspects, embodiments and features of the present teachings can be more fully understood from the following description taken in conjunction with the accompanying drawings. Additional aspects of the present invention, such as features and/or advantages of exemplary embodiments, will be apparent from the description which follows, or may be learned by practice of specific embodiments in accordance with the teachings of the present invention.
Drawings
The drawings are not intended to be drawn to scale. In the drawings, each identical or nearly identical component that is illustrated in various figures may be represented by a like numeral. For purposes of clarity, not every component may be labeled in every drawing. Embodiments of various aspects of the present invention will now be described, by way of example, with reference to the accompanying drawings, in which:
fig. 1 is a flowchart of a method for detecting a road surface disease according to the present invention.
Fig. 2 is a schematic structural diagram of one embodiment of the present invention.
FIG. 3 is a schematic view of a laser reticle generated by the laser generator in the embodiment of FIG. 2.
Detailed Description
In order to better understand the technical content of the present invention, specific embodiments are described below with reference to the accompanying drawings.
In this disclosure, aspects of the invention are described with reference to the accompanying drawings, in which a number of illustrative embodiments are shown. The disclosed embodiments of the invention are not necessarily intended to include all aspects of the invention. It should be appreciated that the various concepts and embodiments described above, as well as those described in greater detail below, may be implemented in any of numerous ways, as the disclosed concepts and embodiments are not limited to any one implementation. In addition, some aspects of the present disclosure may be used alone, or in any suitable combination with other aspects of the present disclosure.
With reference to fig. 1, 2, and 3, a pavement crack damage detection method according to an embodiment of the present invention includes the following steps: the laser generator 12 emits laser beams to the lane, and serially connected bending marked lines AB are formed on the road surface M to be measured; the laser marking image acquisition device 14 acquires the serially connected bent markings AB based on a preset acquisition period to obtain marking images, and the marking images are subjected to high-pass filtering to obtain pulse elevation numerical value images of the road surface to be measured; and processing the pulse elevation value image to obtain a result of the pavement crack diseases.
In an optional implementation mode, the high-pass filtering is to perform low-pass filtering processing and full-spectrum fidelity processing on the marked line image respectively, and perform difference on a full-spectrum section numerical image obtained through the full-spectrum fidelity processing and a low-pass filtering continuous section numerical image obtained through the low-pass filtering processing to obtain a pulse elevation numerical image of the pavement crack disease.
As an optional implementation mode, the full-spectrum fidelity processing is carried out on the reticle AB image, so that the reticle image can be completely reproduced, and the inaccuracy of measured data due to data distortion is avoided.
The design road surface is characterized in that the surface deformation generated by wheel rolling, environment and internal action when in use is represented by flatness, ruts, hugs, surges and the like, and the elevation change of a mutant type such as cracks, pits, breakage and the like changes the design road surface which is originally a macroscopic plane into a complex curved surface, so the essential characteristics of the cracks and the various road surface diseases are the depth, the width and the length of the elevation pulse change which is represented as the elevation change. The actual complex road surface can be strictly reconstructed as long as the elevation value of each road element grid can be strictly measured. In the scheme of the invention, the high-pass filtering treatment is carried out on the complex pavement space spectrum to obtain the signal spectrum of pulse deformation such as cracks, small pits, settlement slab staggering and the like.
According to the scheme, a pulse elevation numerical image is obtained through high-pass filtering, high-frequency components comprise the depth, width and length characteristics of the crack diseases, quantitative automatic intelligent processing of the crack diseases is conveniently achieved, the problem of pseudo cracks generated by water marks and oil marks due to the fact that an image photographing method is commonly adopted at home and abroad is solved, and automatic interpretation of complex gray level images is achieved.
Fig. 2 is a pavement crack disease detection system, including installing roof beam 2 on mobilizable measuring car 1, this mobilizable measuring car 1 can be followed the lane and removed, installs laser generator 12 on the mobilizable measuring car 1, and laser generator 12 comprises multiunit plane laser generator:
the beam 2 is provided with a laser marking image acquisition device 14, the laser generator 12 is used for emitting laser beams to the lane, a serial bending marking AB is formed on the road surface to be detected, the image acquisition and information processing system 11 is arranged for sending an image acquisition control signal to the laser marking image acquisition device 14, so that the laser marking image acquisition device 14 acquires marking images based on a preset acquisition period and is used for carrying out high-pass filtering on the marking images: and generating a pulse elevation numerical value image which takes the lane line as a Y axis in the vertical coordinate direction, the cross lane line as an X axis in the horizontal coordinate direction, the intersection point of the lane line and the cross lane line as an original point and the depth direction of the pavement damage as a Z axis.
As an optional implementation manner, the measuring vehicle 1 is further provided with a mileage controller, the mileage controller is used for calculating the traveling distance of the measuring vehicle 1, and the image collecting and information processing system 11 sends an image collecting control signal to control the laser marked line image collecting device 14 to collect the serially connected bent marked lines on the road surface according to the traveling of the measuring vehicle 1 and based on a certain collecting period, so as to form a marked line image. The preferable collection period is less than 100mm, so that the marking images can be collected continuously and continuously.
Preferably, the laser marked line image acquisition device 14 includes a plurality of groups of CCDs 13 which are mounted on the same beam and distributed linearly, the CCDs 13 may be area-array CCDs or array CCDs, and the plurality of groups of CCDs 13 are located right above the serially connected bent marked lines.
As a preferred embodiment, the angle between the plane laser generated by the plane laser generator 12 and the road surface is less than 45 degrees, so as to ensure a certain projection magnification; the bottom and the ground height of plane laser generator 12 are greater than 300mm, and the angularly adjustable between multiunit plane laser generator 12, and this plane laser generator 12's angle passes through the sensor, and Wifi or other wireless transmission mode make it to adjust according to the demand.
In a preferred embodiment, the groups of planar laser generators 12 are mounted on the same beam 2.
The laser transmitter 12 and the laser line image capture device 14 are mounted on the same beam 2 to reduce and eliminate systematic errors. The beam is configured in some embodiments in a zigzag pattern.
In a preferred embodiment, the laser reticle image pickup device 14 is provided directly above the serially connected folding reticles AB.
In a preferred embodiment, referring to fig. 3, the number of the groups of planar laser generators 12 is 3, and the interval between two adjacent planar laser generators 12 is 1 meter; or 4 planar laser generators 12 are provided and the interval between two adjacent planar laser generators 12 is 0.75 m; the invention can set and arrange the number and the intervals of the plane laser generators according to the requirement under the condition of ensuring that the serially connected bending marked lines AB can cover the whole lane, thereby avoiding the missing detection of the pavement crack diseases.
According to the technical scheme, the plane laser generator 12 is used for obliquely projecting to the road surface to form the serial bending marked lines AB, the laser marked line image acquisition device 14 acquires the serial bending marked lines AB based on the preset acquisition period to obtain marked line images, the acquisition period is controlled by the mileage controller, the image acquisition and information processing system 11 carries out high-pass filtering on the marked line images to obtain pulse elevation numerical value images, and the crack diseases can be obtained through further processing; compared with the prior art, the invention has the beneficial effects that: the method comprises the steps of taking a lane line as a Y axis in the vertical coordinate direction, taking a transverse line as an X axis in the transverse coordinate direction, taking the intersection point of the lane line and the transverse line as an original point, taking a pulse elevation numerical image with the depth direction of the pavement damage as a Z axis, respectively carrying out low-pass filtering treatment and full-spectrum fidelity treatment on a serially-connected bending marking line AB, and carrying out difference on a full-spectrum section numerical curve obtained by the full-spectrum fidelity treatment and a low-pass filtering continuous section numerical curve obtained by the low-pass filtering treatment to obtain a pulse elevation numerical image of the pavement crack damage, so that the problem of missing detection of narrow cracks and shallow cracks is avoided, the automatic intelligent treatment of the pavement damage is realized, the problem of water marks and pseudo cracks generated by an image photographing method commonly adopted at home and abroad is solved, the automatic judgment and reading of complex gray level graphs are realized, and related information of the pavement damage is directly obtained through computer processing, so that the safety is ensured.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention. Therefore, the protection scope of the present invention should be determined by the appended claims.
Claims (6)
1. A pavement crack disease detection method is characterized by comprising the following steps:
step 1, a laser generator emits sector laser beams to a lane to form serial bending marked lines on a road surface to be detected;
step 2, the laser marking image acquisition device acquires the serially connected bent markings in the step 1 based on a preset acquisition period to obtain a marking image;
step 3, performing high-pass filtering on the marked line image obtained in the step 2 to obtain a pulse elevation numerical image of the pavement crack diseases; wherein the high-pass filtering comprises the following processing: respectively carrying out low-pass filtering processing and full-spectrum fidelity processing on the marked line image obtained in the step 2 through an image acquisition and information processing system, and carrying out difference on a full-spectrum section numerical image obtained through the full-spectrum fidelity processing and a low-pass filtering continuous section numerical image obtained through the low-pass filtering processing to obtain a pulse elevation numerical image of the pavement crack disease; the image acquisition and information processing system is set to generate a pulse elevation numerical value image which takes a lane line as a Y axis in the vertical coordinate direction, a cross line as an X axis in the horizontal coordinate direction, the intersection point of the lane line and the cross line as an origin and the depth direction of the pavement disease as a Z axis according to the result of the high-pass filtering;
and 4, processing the pulse elevation numerical value image to obtain a pavement crack disease result.
2. The pavement crack disease detection method according to claim 1, wherein when the laser marking image acquisition device acquires the pavement crack disease, the acquisition period is 100mm or less in the traveling direction.
3. The utility model provides a pavement crack disease detection system, its characterized in that, including installing the roof beam on mobilizable measuring car, this mobilizable measuring car can follow the lane and remove, installs laser generator on the mobilizable measuring car, and laser generator comprises multiunit plane laser generator, wherein:
the angle between the plane laser generated by the plane laser generator and the road surface is less than 45 degrees, the height between the bottom of the plane laser generator and the ground is more than 300mm, and the angles among the multiple groups of plane laser generators are adjustable;
the laser marking image acquisition device is used for acquiring the serially connected bent markings on the road surface to form marking images;
the measuring vehicle is provided with an image acquisition and information processing system, and the image acquisition and information processing system is used for sending an image acquisition control signal to the laser marking image acquisition device, so that the laser marking image acquisition device acquires marking images based on a preset acquisition period, and the marking images are subjected to high-pass filtering processing to obtain pulse elevation numerical images of the road surface to be measured; the specific process of the high-pass filtering treatment comprises the following steps: respectively carrying out low-pass filtering processing and full-spectrum fidelity processing on the marked line image through an image acquisition and information processing system, and carrying out difference on a full-spectrum section numerical image obtained by the full-spectrum fidelity processing and a low-pass filtering continuous section numerical image obtained by the low-pass filtering processing to obtain a pulse elevation numerical image of the pavement crack disease; the image acquisition and information processing system is set to generate a pulse elevation numerical value image which takes a lane line as a Y axis in the vertical coordinate direction, a cross line as an X axis in the horizontal coordinate direction, the intersection point of the lane line and the cross line as an origin and the depth direction of the pavement disease as a Z axis according to the result of the high-pass filtering;
the image acquisition and information processing system is configured to generate a pulse elevation numerical image with a lane line as a Y axis in a vertical coordinate direction, a cross lane line as an X axis in a horizontal coordinate direction, a crossing point of the lane line and the cross lane line as an origin, and a depth direction of the pavement defect as a Z axis according to a result of the high-pass filtering.
4. The pavement crack defect detection system of claim 3, wherein the laser marking image capture device comprises a plurality of sets of CCDs mounted on the same beam and arranged in a line, the plurality of sets of CCDs being located directly above the serially connected curved markings.
5. The pavement crack disease detection system according to claim 3 or 4, wherein the plurality of groups of planar laser generators and the laser marking image acquisition device are mounted on a common beam.
6. The pavement crack disease detection system of claim 3, wherein the measuring vehicle is further provided with a mileage controller, the mileage controller is used for calculating the traveling distance of the measuring vehicle, and the image acquisition and information processing system sends an image acquisition control signal to control the laser marking image acquisition device to acquire the pavement laser marking image according to the traveling of the measuring vehicle and based on a certain acquisition period.
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| CN110593058A (en) * | 2019-09-16 | 2019-12-20 | 徐州宏嵩机电设备有限公司 | Concrete road surface evener |
| CN112070756B (en) * | 2020-09-15 | 2021-03-30 | 河北工业大学 | Three-dimensional road surface disease measuring method based on unmanned aerial vehicle oblique photography |
| CN114511495B (en) * | 2021-12-21 | 2024-11-05 | 武汉光谷卓越科技股份有限公司 | Pavement fault detection method and device based on precise three-dimension |
| CN114740010B (en) * | 2022-04-14 | 2023-05-23 | 石云飞 | Intelligent monitoring method for pavement diseases |
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